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<div class="title">D:/backups/Desktop/beagleoncreate/trunk/camera/ARtagLocalizer.h</div>  </div>
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<a href="_a_rtag_localizer_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;<a class="code" href="_a_rtag_8h.html">ARtag.h</a>&quot;</span>
<a name="l00002"></a>00002 <span class="preprocessor">#include &lt;ARToolKitPlus/TrackerSingleMarker.h&gt;</span>
<a name="l00009"></a><a class="code" href="_a_rtag_localizer_8h.html#a6949d1b86905f76a568c1feb95b2dfdb">00009</a> <span class="preprocessor">#define ARTAG_MAX_ID 99</span>
<a name="l00010"></a>00010 <span class="preprocessor"></span>
<a name="l00011"></a>00011 <span class="keyword">using</span> ARToolKitPlus::TrackerSingleMarker;
<a name="l00012"></a><a class="code" href="class_a_rtag_localizer.html">00012</a> <span class="keyword">class </span><a class="code" href="class_a_rtag_localizer.html" title="This class is the core class that localize the ARtag using ARToolKitPlus.">ARtagLocalizer</a>
<a name="l00013"></a>00013 {
<a name="l00014"></a>00014 <span class="keyword">public</span>:
<a name="l00015"></a>00015         <a class="code" href="class_a_rtag_localizer.html#abf1483a30237d3edd13a9389b5c6a663" title="A constructor for ARtagLocalizer. Initalize image width and height, the flag to use BCH...">ARtagLocalizer</a>();
<a name="l00016"></a>00016         <a class="code" href="class_a_rtag_localizer.html#a570c7503953776fcbc3a050608e929e2" title="A destructor for ARtagLocalizer. There is nothing done in the destructor.">~ARtagLocalizer</a>();
<a name="l00017"></a>00017         <span class="keywordtype">int</span> <a class="code" href="class_a_rtag_localizer.html#a23865fbc6d4676be3449050c0d0b9de2" title="Initalize The localizer with all these parameters.">initARtagPose</a>(<span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height, <span class="keywordtype">float</span> markerWidth, <span class="keywordtype">int</span> arThres = 50, <span class="keywordtype">float</span> x_offset = 0.f, <span class="keywordtype">float</span> y_offset = 0.f, <span class="keywordtype">float</span> yaw_offset = 0.f, <span class="keywordtype">float</span> ffactor = 0.97);
<a name="l00018"></a>00018         <span class="keywordtype">bool</span> <a class="code" href="class_a_rtag_localizer.html#af3ff184800f355110911655628f47426" title="The function to check if there is any ARtag in the view. Also put in the tag id and pose on the image...">getARtagPose</a>(IplImage * src, IplImage * dst, <span class="keywordtype">int</span> camID);
<a name="l00019"></a>00019         <a class="code" href="class_a_rtag.html" title="ARtag class which holds information like tag ID and pose matrix for the ARtag.">ARtag</a> * <a class="code" href="class_a_rtag_localizer.html#af1164bb3e617ffc9aac430a11fe6715f" title="Get the ARtag detected. Need to know the total number of ARtags in view first.">getARtag</a>(<span class="keywordtype">int</span> index);
<a name="l00020"></a>00020         <span class="keywordtype">int</span> <a class="code" href="class_a_rtag_localizer.html#ae4ee62bbc8e137f87a309e6cadb9d250" title="Get te size of the ARtag seen in the view the last time the getARtagPose was called.">getARtagSize</a>();
<a name="l00021"></a>00021         <span class="keywordtype">void</span> <a class="code" href="class_a_rtag_localizer.html#ad0db8ed360445098333880575032e0c5" title="Set the ARtag pose offset.">setARtagOffset</a>(<span class="keywordtype">float</span> x_offset, <span class="keywordtype">float</span> y_offset, <span class="keywordtype">float</span> yaw_offset);
<a name="l00022"></a>00022         <span class="keywordtype">int</span> <a class="code" href="class_a_rtag_localizer.html#a64d18de0dcdf11f81bffcf7b23a16d47" title="Clean up the stuff for ARtag localizer, should have called in destructor?">cleanupARtagPose</a>(<span class="keywordtype">void</span>);
<a name="l00023"></a>00023 
<a name="l00026"></a><a class="code" href="class_a_rtag_localizer.html#aed3ca7d9dcdee746016f5e22f51878da">00026</a>         <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="class_a_rtag_localizer.html#aed3ca7d9dcdee746016f5e22f51878da">allStop</a>;
<a name="l00027"></a>00027         
<a name="l00028"></a>00028 <span class="keyword">private</span>:
<a name="l00029"></a>00029         <span class="keywordtype">int</span> imgwidth;
<a name="l00030"></a>00030         <span class="keywordtype">int</span> imgheight;
<a name="l00031"></a>00031         <span class="keywordtype">bool</span> useBCH;
<a name="l00032"></a>00032         <span class="keywordtype">bool</span> init;
<a name="l00033"></a>00033         <span class="keywordtype">float</span> xoffset;
<a name="l00034"></a>00034         <span class="keywordtype">float</span> yoffset;
<a name="l00035"></a>00035         <span class="keywordtype">float</span> yawoffset;
<a name="l00036"></a>00036         <span class="keywordtype">float</span> fudge;
<a name="l00037"></a>00037         <span class="keywordtype">int</span> arThreshold;
<a name="l00038"></a>00038 
<a name="l00039"></a>00039         std::vector&lt;ARtag&gt; mytag;
<a name="l00040"></a>00040         <span class="keywordtype">float</span> patternWidth_;
<a name="l00041"></a>00041         <span class="keywordtype">float</span> patternCenter_[2];
<a name="l00042"></a>00042         TrackerSingleMarker *tracker;
<a name="l00043"></a>00043 };
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